This package contains a ROS-independant library to get information from the Polaris (based on https://github.com/wjwwood/serial) and a simple ROS wrapper (using catkin) to send a geometry_msgs::PoseArray (visualizable on rviz).

Two parameters are needed, the .rom files and the port to which the sensor is connected :

rosrun polaris_sensor polaris_sensor _roms:=/home/T0.rom _port:=/dev/ttyUSB0

If you have multiple rom files :

rosrun polaris_sensor polaris_sensor _roms:="$(rospack find polaris_sensor)/rom/kuka.rom,$(rospack find polaris_sensor)/rom/T0.rom" _port:=/dev/ttyUSB0

Note: The rate is 60Hz.

Authors : Antoine Hoarau, Florian Richer